CIR – Circular Interpolation

The CIR command is a write-only command that starts a 2-axis circular interpolation motion. Circles can be drawn using 2 axes in either the CW or CCW direction. All circular moves are interpreted as absolute moves.

Applies to: CMD-4CR, CMD-4EX-SA

ASCII/Standalone CIR

Applies to: PMX-4EX-SA, PMX-4ET-SA

ASCII/Standalone CIRP XY Circular interpolation move (CW direction)

CIRN XY Circular interpolation move (CCW direction)

Syntax:

Applies to: CMD-4CR, CMD-4EX-SA

Write:

CIR[A1][A2]P[C1]:[C2] for CW motion

CIR[A1][A2]N[C1]:[C2] for CCW motion

Where: [A1][A2] specifies axis 1 and axis 2 (X, Y, Z, U),
N is CCW motion, P is CW motion,
[C1]:[C2] specifies the circle coordinate center of [A1],[A2] (32-bit value)

Applies to: PMX-4EX-SA, PMX-4ET-SA

Write:

CIRP[C1]:[C2] XY Circular interpolation move (CW direction)

CIRN[C1]:[C2] XY Circular interpolation move (CCW direction)

Where: N is CCW motion, P is CW motion,
[C1]:[C2] specifies the circle coordinate center of XY (32-bit value)

Reply

Command is accepted and executed

Write:

Command cannot be processed

An error message is returned. See Error Codes

Example:

Applies to: CMD-4CR, CMD-4EX-SA

Write:

CIRXYP1000:0 * Circular interpolation of X and Y axis, center X = 1000, Y = 0 move in CW direction

Applies to: PMX-4EX-SA, PMX-4ET-SA

Write:

CIRN1000:0 * Circular interpolation of X and Y axis, center X = 1000, Y = 0 move in CCW direction

Notes:

Any axis can be used for circular interpolation operations.
Other conditions:

Joystick operation is disabled

Manual pulse generator (MPG) operation is disabled

Current operations are stopped

Error status is off

CMD Command Reference